CN117813949A - A mechanical weeding device based on crop spacing rotation and seedling avoidance - Google Patents

A mechanical weeding device based on crop spacing rotation and seedling avoidance Download PDF

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Publication number
CN117813949A
CN117813949A CN202410124820.5A CN202410124820A CN117813949A CN 117813949 A CN117813949 A CN 117813949A CN 202410124820 A CN202410124820 A CN 202410124820A CN 117813949 A CN117813949 A CN 117813949A
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CN
China
Prior art keywords
weeding
lifting
turntable
frame
motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202410124820.5A
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Chinese (zh)
Inventor
彭强吉
康建明
陈玉龙
张敬文
陈英凯
张春艳
张宁宁
王小瑜
李涛
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Shandong Academy of Agricultural Machinery Sciences
Original Assignee
Shandong Academy of Agricultural Machinery Sciences
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shandong Academy of Agricultural Machinery Sciences filed Critical Shandong Academy of Agricultural Machinery Sciences
Priority to CN202410124820.5A priority Critical patent/CN117813949A/en
Publication of CN117813949A publication Critical patent/CN117813949A/en
Pending legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B39/00—Machines specially adapted for working soil on which crops are growing
    • A01B39/12—Machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture
    • A01B39/18—Machines specially adapted for working soil on which crops are growing for special purposes, e.g. for special culture for weeding
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
    • A01D34/74—Cutting-height adjustment

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Soil Sciences (AREA)
  • Soil Working Implements (AREA)

Abstract

A weeding device based on rotation of plant spacing of crops for avoiding seedlings relates to the technical field of weeding agricultural machinery and is used for solving the problem that the existing weeding machinery cannot realize omnibearing weeding and the weeding height cannot be adjusted according to terrains. Comprises a frame, a walking assembly, a weeding assembly, a lifting assembly and a rotating assembly; the rotating assembly comprises a turntable and a rotating driving mechanism, a turntable mounting plate is arranged on the rack, the turntable is rotationally connected with the turntable mounting plate, and the rotating driving mechanism is positioned on the turntable mounting plate and used for driving the turntable to rotate in a horizontal plane; the lifting assembly comprises a vertical support, a lifting plate and a lifting driving mechanism, the vertical support is fixed at the bottom of the turntable, the lifting plate is connected with the vertical support in a sliding manner along the vertical direction, and the lifting driving mechanism is positioned on the vertical support and used for driving the lifting plate to move vertically; the weeding assembly comprises a weeding motor fixedly connected with the lifting plate and a blade fixed at the output end of the weeding motor. The height of the weeding assembly can be adjusted according to the height of the terrain to meet weeding requirements.

Description

Mechanical weeding device capable of avoiding seedlings based on rotation of plant spacing of crops
Technical Field
The invention relates to the technical field of weeding agricultural machinery, in particular to a mechanical weeding device for avoiding seedlings based on rotation of plant spacing of crops.
Background
Weeds compete with crops for nutrition, moisture, sunlight and growth space, and seriously affect the yield and quality of crops. To increase crop yield, significant resources must be expended to clear or reduce weed growth. Currently, the common weeding techniques are artificial weeding, chemical weeding, biological weeding, thermal weeding and mechanical weeding. Traditional physical weeding such as manual weeding and mechanical weeding is still widely used, but a large amount of manpower and time investment is still needed, and the weeding efficiency is low and the labor cost is increased. Chemical weeding methods rely on pesticide spraying to kill weeds, and have the advantages of high efficiency and rapidness, however, the use of pesticides can cause environmental pollution and ecological risks, and chemical agents have toxicity to plants and organisms other than weeds, affecting ecological balance and biodiversity. Compared with other weeding technologies, the mechanical weeding does not pollute the environment and endanger the health of human bodies. In terms of the future development trend, the replacement of pesticide weeding by mechanical weeding has become the mainstream of the era.
The existing intelligent mechanical weeding method relies on a machine vision weed identification mode to realize the field weed removal, the positions of crops and weeds are judged, and a control system and a sensing system are matched to realize the weed removal function in a precise positioning mode. But at present, most of weeding mechanical structures are semi-rotary weeding structures, all-round weeding cannot be achieved, and blades are usually located at the same height during weeding, so that damages to the blades are easy to generate under the condition of weeding at different heights.
Disclosure of Invention
The invention aims to provide a mechanical weeding device for avoiding seedlings based on rotation of plant spacing of crops, which is used for solving the problem that the existing weeding machine cannot realize omnibearing weeding and the weeding height cannot be adjusted according to terrains.
The technical scheme adopted for solving the technical problems is as follows: the utility model provides a mechanical weeding device of avoiding seedling based on crop plant spacing rotation, includes frame, walking subassembly, weeding subassembly, lifting unit and rotating unit, the walking subassembly includes wheel carrier, walking wheel, walking motor and turns to the motor, the wheel carrier has four and is connected with the frame rotation, the walking wheel is located the lower part of frame, the walking motor is fixed on the wheel carrier and is used for driving the rotation of walking wheel, the turning to the motor is fixed on the frame and is used for driving the rotation of wheel carrier in the horizontal plane; the rotating assembly comprises a turntable and a rotating driving mechanism, wherein the turntable mounting plate is arranged on the rack, the turntable is provided with two turntables and is in rotating connection with the turntable mounting plate, and the rotating driving mechanism is positioned on the turntable mounting plate and is used for driving the turntable to rotate in a horizontal plane; the lifting assembly comprises a vertical support, a lifting plate and a lifting driving mechanism, wherein the vertical support is fixed at the bottom of the turntable, the lifting plate is vertically connected with the vertical support in a sliding manner, and the lifting driving mechanism is positioned on the vertical support and used for driving the lifting plate to vertically move; the weeding assembly comprises a weeding motor fixedly connected with the lifting plate and a blade fixed at the output end of the weeding motor.
Further, the four corners of the frame are provided with first mounting frames of cube frame structures, and the steering motor is located in the first mounting frames.
Further, the rotary driving mechanism comprises a rotary motor and a driving gear, the rotary motor is fixed on the rotary table mounting plate, the driving gear is fixed at the output end of the rotary motor, and the outer wall of the rotary table is provided with teeth meshed with the driving gear.
Further, the top of the vertical support is provided with a second installation frame of a square frame structure.
Further, the lifting driving mechanism comprises a lifting motor and a screw rod, the lifting motor is fixed on the second installation frame, the screw rod is fixed at the output end of the lifting motor, and the lifting plate is in threaded connection with the screw rod.
Further, the side wall of the vertical support is provided with a sliding rail, the end part of the lifting plate is provided with a sliding installation part, and the sliding installation part is in sliding connection with the sliding rail.
Further, the center of carousel has the pivot, the pivot runs through the carousel mounting panel from bottom to top and is equipped with the bearing between the two, the top of pivot has lock nut.
Further, the four steering motors individually operate.
The beneficial effects of the invention are as follows: according to the invention, the lifting assembly and the weeding assembly are driven to rotate in the horizontal plane through the arrangement of the turntable, so that omnibearing weeding is realized; the weeding assembly is driven to move up and down through the lifting assembly, so that the weeding height is adjusted according to the topography.
Drawings
FIG. 1 is a three-dimensional view of the present invention;
FIG. 2 is a front view assembly of the herbicidal assembly and the lift assembly;
FIG. 3 is a three-dimensional assembly view of the herbicidal assembly, lift assembly, mounting plate and swivel assembly;
FIG. 4 is a three-dimensional assembly view of a herbicidal assembly and a rotating assembly;
in the figure: the weeding machine comprises a frame 1, a first mounting frame 11, a wheel frame 12, a travelling wheel 13, a steering motor 14, a travelling motor 15, a turntable mounting plate 16, a rotating shaft 2, a bearing 21, a locking nut 22, a turntable 3, a rotating motor 31, a motor mounting plate 32, a driving gear 33, a vertical support 4, a second mounting frame 41, a sliding rail 42, a lifting motor 43, a lifting plate 44, a sliding mounting part 441, a 45 screw rod 46, a weeding motor 47 and a blade 47.
Detailed Description
As shown in fig. 1 to 4, the present invention includes a frame 1, a traveling assembly, a weeding assembly, a lifting assembly, and a rotating assembly, and is described in detail with reference to the accompanying drawings.
As shown in fig. 1 to 4, a mechanical weeding device for avoiding seedlings based on rotation of plant spacing of crops comprises a frame 1, a walking assembly, a weeding assembly, a lifting assembly and a rotating assembly, wherein the walking assembly comprises a wheel frame 12, a walking wheel 13, a walking motor 15 and a steering motor 14, the frame 1 is of a rectangular frame structure as a whole, four corners of the frame 1 are provided with first mounting frames 11 of a square frame structure, the wheel frame 12 is provided with four and is in rotary connection with the frame 1, and in particular, the wheel frame 12 is in rotary connection with the first mounting frames 11. The travelling wheel 13 is positioned at the lower part of the frame 1, the travelling motor 15 is fixed on the wheel frame 12 for driving the travelling wheel 13 to rotate, and the steering motor 14 is fixed in the first mounting frame 11 for driving the wheel frame 12 to rotate in the horizontal plane. The four steering motors 14 may be operated individually or partially simultaneously to meet steering demands.
As shown in fig. 3, the rotating assembly comprises a turntable 3 and a rotating driving mechanism, a turntable mounting plate 13 is arranged on the frame 1, and the turntable 3 is provided with two turntable mounting plates 16 which are connected in a rotating way. Specifically, the center of the turntable 3 is provided with a rotating shaft 2, the rotating shaft 2 penetrates through the turntable mounting plate 16 from bottom to top, a bearing 21 is arranged between the rotating shaft 2 and the turntable mounting plate, and a locking nut 22 is arranged at the top of the rotating shaft 2 and used for limiting the rotating shaft 2. A rotary drive mechanism is located on the turntable mounting plate 16 for driving rotation of the turntable 3 in a horizontal plane. The rotary driving mechanism comprises a rotary motor 31 and a driving gear 33, wherein the rotary motor 31 is fixed on the turntable mounting plate 16 through a motor mounting plate 32, the driving gear 33 is fixed at the output end of the rotary motor 31, and the outer wall of the turntable 3 is provided with teeth meshed with the driving gear 33. After the rotary motor 31 is started, the driving gear 33 rotates to drive the turntable 3 to rotate in the horizontal plane.
As shown in fig. 3 and 4, the lifting assembly comprises a vertical support 4, a lifting plate 44 and a lifting driving mechanism, wherein the vertical support 4 is fixed at the bottom of the turntable 3, the lifting plate 44 is in sliding connection with the vertical support 4 along the vertical direction, and the lifting driving mechanism is positioned on the vertical support 4 and used for driving the lifting plate 44 to move vertically. The method comprises the following steps: the top of the vertical support 4 is provided with a second mounting frame 41 of a square frame structure, the side wall of the vertical support 4 is provided with a sliding rail 42, the end part of the lifting plate 44 is provided with a sliding mounting part 441, and the sliding mounting part 441 is in sliding connection with the sliding rail 42. The weeding assembly comprises a weeding motor 46 fixedly connected with the lifting plate 44 and a blade 47 fixed at the output end of the weeding motor 46. The lifting driving mechanism comprises a lifting motor 43 and a screw rod 45, the lifting motor 43 is fixed on the second mounting frame 41, the screw rod 45 is fixed at the output end of the lifting motor 43, and the lifting plate 44 is in threaded connection with the screw rod 45. After the lifting motor 43 is started, the screw rod 45 rotates, so that the lifting plate 44 is driven to move up and down, and the weeding assembly is driven to move up and down. After the weeding motor 46 is started, the blade 47 rotates to weed.
When the invention works, the whole frame 1 is driven to move under the action of the walking motor 15, and the steering motor 14 acts according to the requirement in the moving process to drive the whole frame 1 to steer. In the moving process, the rotary driving mechanism drives the turntable 3 to rotate to realize omnibearing weeding, the lifting driving mechanism drives the lifting of the weeding assembly to meet weeding requirements of different height terrains, and the weeding motor 46 drives the blade 47 to rotate to execute weeding.
According to the invention, the lifting assembly and the weeding assembly are driven to rotate in the horizontal plane through the arrangement of the turntable, so that omnibearing weeding is realized; the weeding assembly is driven to move up and down through the lifting assembly, so that the weeding height is adjusted according to the topography.

Claims (8)

1.一种基于作物株距旋转避苗机械除草装置，其特征在于，包括机架、行走组件、除草组件、升降组件和旋转组件，所述行走组件包括轮架、行走轮、行走电机和转向电机，所述轮架具有四个且与机架转动连接，所述行走轮位于机架的下部，所述行走电机固定在轮架上用于驱使行走轮的转动，所述转向电机固定在机架上用于驱使轮架在水平面内的旋转；所述旋转组件包括转盘和旋转驱动机构，所述机架上具有转盘安装板，所述转盘具有两个且与转盘安装板转动连接，所述旋转驱动机构位于转盘安装板上用于驱使转盘在水平面内的旋转；所述升降组件包括竖向支架、升降板和升降驱动机构，所述竖向支架固定在转盘底部，所述升降板沿竖向与竖向支架滑动连接，所述升降驱动机构位于竖向支架上用于驱使升降板的竖向移动；所述除草组件包括与升降板固定连接的除草电机以及固定在除草电机输出端的刀片。1. A mechanical weeding device based on crop spacing rotation seedling avoidance, characterized in that it includes a frame, a walking assembly, a weeding assembly, a lifting assembly and a rotating assembly, the walking assembly includes a wheel frame, a walking wheel, a walking motor and a steering motor, the wheel frame has four and is rotatably connected to the frame, the walking wheel is located at the lower part of the frame, the walking motor is fixed on the wheel frame for driving the rotation of the walking wheel, and the steering motor is fixed on the frame for driving the rotation of the wheel frame in a horizontal plane; the rotating assembly includes a turntable and a rotating drive mechanism, the frame has a turntable mounting plate, the turntable has two and is rotatably connected to the turntable mounting plate, and the rotating drive mechanism is located on the turntable mounting plate for driving the rotation of the turntable in a horizontal plane; the lifting assembly includes a vertical bracket, a lifting plate and a lifting drive mechanism, the vertical bracket is fixed to the bottom of the turntable, the lifting plate is slidably connected to the vertical bracket along the vertical direction, and the lifting drive mechanism is located on the vertical bracket for driving the vertical movement of the lifting plate; the weeding assembly includes a weeding motor fixedly connected to the lifting plate and a blade fixed at the output end of the weeding motor. 2.根据权利要求1所述的一种基于作物株距旋转避苗机械除草装置，其特征在于，所述机架的四个角上具有正方体框架结构的第一安装架，所述转向电机位于第一安装架内。2. A mechanical weeding device based on crop spacing rotation and seedling avoidance according to claim 1, characterized in that there are first mounting frames with a cube frame structure on the four corners of the frame, and the steering motor is located in the first mounting frame. 3.根据权利要求2所述的一种基于作物株距旋转避苗机械除草装置，其特征在于，所述旋转驱动机构包括旋转电机和主动齿轮，所述旋转电机固定在转盘安装板上，所述主动齿轮固定在旋转电机输出端，所述转盘外壁具有与主动齿轮啮合的齿。3. A mechanical weeding device based on crop spacing rotation to avoid seedlings according to claim 2, characterized in that the rotary drive mechanism includes a rotary motor and a driving gear, the rotary motor is fixed on a turntable mounting plate, the driving gear is fixed on the output end of the rotary motor, and the outer wall of the turntable has teeth meshing with the driving gear. 4.根据权利要求3所述的一种基于作物株距旋转避苗机械除草装置，其特征在于，所述竖向支架的顶部具有正方体框架结构的第二安装架。4. A mechanical weeding device based on crop spacing rotation and seedling avoidance according to claim 3, characterized in that the top of the vertical bracket has a second mounting frame with a cube frame structure. 5.根据权利要求4所述的一种基于作物株距旋转避苗机械除草装置，其特征在于，所述升降驱动机构包括升降电机和丝杠，所述升降电机固定在第二安装架上，所述丝杠固定在升降电机输出端，所述升降板与丝杠螺纹连接。5. A mechanical weeding device based on crop spacing rotation and seedling avoidance according to claim 4, characterized in that the lifting drive mechanism includes a lifting motor and a screw, the lifting motor is fixed on the second mounting frame, the screw is fixed at the output end of the lifting motor, and the lifting plate is threadedly connected to the screw. 6.根据权利要求5所述的一种基于作物株距旋转避苗机械除草装置，其特征在于，所述竖向支架的侧壁具有滑轨，所述升降板端部具有滑动安装部，所述滑动安装部与滑轨滑动连接。6. A mechanical weeding device based on crop spacing rotation and seedling avoidance according to claim 5, characterized in that the side wall of the vertical bracket has a slide rail, the end of the lifting plate has a sliding mounting portion, and the sliding mounting portion is slidably connected to the slide rail. 7.根据权利要求6所述的一种基于作物株距旋转避苗机械除草装置，其特征在于，所述转盘的中心具有转轴，所述转轴自下而上贯穿转盘安装板且在两者之间设有轴承，所述转轴的顶部具有锁紧螺母。7. A mechanical weeding device based on crop spacing rotation and seedling avoidance according to claim 6, characterized in that there is a rotating shaft in the center of the turntable, the rotating shaft passes through the turntable mounting plate from bottom to top and a bearing is provided between the two, and a locking nut is provided on the top of the rotating shaft. 8.根据权利要求7所述的一种基于作物株距旋转避苗机械除草装置，其特征在于，四个所述转向电机单独动作。8. A mechanical weeding device based on crop spacing rotation and seedling avoidance according to claim 7, characterized in that the four steering motors act independently.
CN202410124820.5A 2024-01-30 2024-01-30 A mechanical weeding device based on crop spacing rotation and seedling avoidance Pending CN117813949A (en)

Priority Applications (1)

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CN202410124820.5A CN117813949A (en) 2024-01-30 2024-01-30 A mechanical weeding device based on crop spacing rotation and seedling avoidance

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Application Number Priority Date Filing Date Title
CN202410124820.5A CN117813949A (en) 2024-01-30 2024-01-30 A mechanical weeding device based on crop spacing rotation and seedling avoidance

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118614173A (en) * 2024-05-28 2024-09-10 宁夏大学 A bilateral weeding device between wine grape plants and a detection and control method

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101323328A (en) * 2008-07-02 2008-12-17 南京农业大学 An agricultural intelligent mobile robot platform
CN206760076U (en) * 2017-05-11 2017-12-19 天津农学院 A kind of greenbelt intelligence trimming machine cuts people
CN211881069U (en) * 2020-03-27 2020-11-10 青海新能源(集团)有限公司 A crawler-type weeding device for photovoltaic power station
CN112544136A (en) * 2020-12-10 2021-03-26 浙江理工大学 Variable plant spacing inter-plant weeding tail end execution device based on non-circular gear transmission

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101323328A (en) * 2008-07-02 2008-12-17 南京农业大学 An agricultural intelligent mobile robot platform
CN206760076U (en) * 2017-05-11 2017-12-19 天津农学院 A kind of greenbelt intelligence trimming machine cuts people
CN211881069U (en) * 2020-03-27 2020-11-10 青海新能源(集团)有限公司 A crawler-type weeding device for photovoltaic power station
CN112544136A (en) * 2020-12-10 2021-03-26 浙江理工大学 Variable plant spacing inter-plant weeding tail end execution device based on non-circular gear transmission

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118614173A (en) * 2024-05-28 2024-09-10 宁夏大学 A bilateral weeding device between wine grape plants and a detection and control method
CN118614173B (en) * 2024-05-28 2024-11-29 宁夏大学 Bilateral weeding device between vines and detection control method

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